How to operate the adaptive speed controller

Abstract

The present invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle, and a vehicle. The present invention relates to a method for operating an adaptive speed controller of a vehicle (100), comprising the steps of: a) selecting a first vehicle (200) traveling ahead as a target vehicle (S1); b) controlling a distance (201) between the target vehicle (200) and the host vehicle (100); and c) identifying a second vehicle (300) traveling ahead in a lane section between the target vehicle (200) and the host vehicle (100). d) determining a speed difference between the speed of the target vehicle (200) and the speed of the second vehicle (300) traveling ahead (S5); e) comparing the speed difference with a threshold (S6); and f) depending on the comparison in step e), retaining the first vehicle (200) traveling ahead as the target vehicle (S7), or selecting the second vehicle (300) traveling ahead as a new target vehicle (S9).

Description

[Technical Field]

[0001] The present invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle, and a vehicle. [Background technology]

[0002] When driving on multi-lane highways, arterial roads, or even urban roads, situations can arise in which a vehicle in an adjacent lane crosses the lane boundary of the vehicle's own lane. If the vehicle is equipped with an adaptive speed controller, the vehicle is selected as the target vehicle and its distance from the target vehicle is controlled by speed adjustment. However, particularly on arterial roads, situations can arise in which a vehicle only partially crosses into the adjacent lane without intending to cut in. In such situations, selecting a vehicle that only travels in the lane for a short time and is faster than the vehicle itself is not advantageous because the vehicle ahead could cause the vehicle to brake suddenly. Furthermore, on urban roads, situations can arise in which a motorcycle, for example, accelerates in an additional lane between actual lanes. In these situations, too, it is often unfavorable to select the fast motorcycle as the target vehicle for the adaptive speed controller.

[0003] US2019 / 0315355A1 discloses an adaptive speed controller for a vehicle configured to identify a change in the state of a small vehicle. The unit for storing an upper limit value is configured to store an upper limit value of a target acceleration set before the determination unit identifies the change in the state of the small vehicle. The target acceleration setting unit is configured to set the target acceleration to be equal to or less than the upper limit value while the small vehicle is selected as a following target. Summary of the Invention

[0004] Against this background, it is an object of the present invention to provide an improved adaptive speed control method.

[0005] A first aspect provides a method for operating an adaptive speed controller in a vehicle, the method comprising: 1. A method for operating an adaptive speed controller of an ego vehicle, comprising: a) selecting a first vehicle traveling ahead as a target vehicle; b) controlling the distance between the target vehicle and the host vehicle; c) identifying a second vehicle traveling ahead on a road section between the target vehicle and the host vehicle; d) determining a speed difference between the speed of the target vehicle and the speed of the second vehicle traveling ahead; e) comparing the speed difference with a limit value; f) depending on the comparison of step e), retaining the first vehicle traveling ahead as the target vehicle or selecting the second vehicle traveling ahead as a new target vehicle; Equipped with.

[0006] This method has the advantage of selecting a second vehicle as a target vehicle only if it is likely to remain in the lane of the ego vehicle. This is indicated by adjusting the speed of the second vehicle in front to the prevailing speed in the lane of the ego vehicle and the target vehicle. In this way, the adaptive speed controller of the ego vehicle can be prevented from making incorrect acceleration or braking operations. This improves the application safety level of the adaptive speed controller on the one hand, and the driving comfort of the ego vehicle's occupants on the other hand.

[0007] The vehicle is, for example, a passenger car, a large freight vehicle, or other automobile.

[0008] If the first vehicle traveling ahead meets the adaptive speed controller's predetermined criteria, it is selected as the target vehicle. These criteria include, for example, that the target vehicle is a vehicle and not another road user such as a pedestrian.

[0009] "Selecting" a first or second vehicle traveling ahead is understood to mean that the vehicle in question is defined as the target of control for the adaptive speed controller. This is done, in particular, by selecting or setting parameters in the software of the adaptive speed controller. If the target vehicle in question is "retained," control over it is retained; in particular, the corresponding parameters in the software remain unchanged.

[0010] The adaptive speed controller of the host vehicle is configured to control a distance between the target vehicle and the host vehicle. This distance is controlled, inter alia, by adjusting the speed of the host vehicle. The adaptive speed controller receives sensor data from one or more host vehicle sensors. The sensor data is used, for example, to determine the speed of the target vehicle and the distance between the target vehicle and the host vehicle. The adaptive speed controller is further configured to operate an engine control unit, a braking device, and / or a steering device of the host vehicle.

[0011] The adaptive speed controller controls the distance between the target vehicle and the host vehicle by activating the engine control unit, steering device, and / or braking device of the host vehicle to accelerate or brake.

[0012] Here, the second vehicle traveling ahead is identified in step c) in particular by one or more sensors of the ego vehicle, in particular one or more cameras (e.g., front-facing cameras) of the ego vehicle. For the purpose of identification, object recognition (e.g., by software-based image recognition) can be performed on the image data acquired by the one or more cameras.

[0013] A second vehicle traveling ahead is preferably identified as soon as it is located on the road section between the target vehicle and the host vehicle, and particularly preferably as soon as it exceeds the road limit on which the host vehicle is located.

[0014] The speed of a second vehicle traveling ahead and the speed of the target vehicle are determined using sensor data from one or more sensors on the host vehicle, and then the speed difference between the speeds of the two vehicles is determined.

[0015] In step e), the speed is compared with a limit value, which can be both an upper limit value and a lower limit value.

[0016] Depending on this comparison, the target vehicle is either kept or a new target vehicle is selected. This comparison is used to estimate whether the second vehicle traveling in front will stay in the lane of the host vehicle or whether the second vehicle traveling in front wants to leave this lane again. If the second vehicle traveling in front does not match its speed to that of the target vehicle, i.e., if the speed difference is greater than a threshold value, it is assumed that the second vehicle traveling in front is likely to leave the lane again.

[0017] According to one embodiment, in step f), if the speed difference is greater than or equal to the limit value, the first vehicle traveling in front is retained as the target vehicle, and if the speed difference is less than the limit value, the second vehicle traveling in front is selected as the new target vehicle.

[0018] Therefore, if the speed difference between the second vehicle traveling ahead and the host vehicle is less than the limit value, the second vehicle traveling ahead is selected as the new target vehicle. Therefore, if the speed difference is less than the limit value, the second vehicle traveling ahead may be faster than the target vehicle and still be selected as the new target vehicle.

[0019] According to one embodiment, said limit value is set before step e), in particular before step a).

[0020] For example, the limit value may be a fixed value set in the adaptive speed controller software.

[0021] Alternatively, the limit value may simply be set prior to step e), for example by an adaptive speed controller, which uses sensor data to estimate the traffic volume around the host vehicle and derives the limit value therefrom, preferably set by the driver of the host vehicle.

[0022] According to one embodiment, the limit value has a value between 3 km / h and 10 km / h.

[0023] Particularly preferably, the limit value has a value of 5 km / h.

[0024] According to one embodiment, the second vehicle is a motorbike.

[0025] According to one embodiment, steps d) to f) are repeated until the second vehicle traveling ahead is selected as the new target vehicle or until the second vehicle traveling ahead leaves the road section between the target vehicle and the host vehicle.

[0026] Therefore, as long as a second vehicle traveling ahead is identified between the target vehicle and the host vehicle, the speed difference is determined and compared with a limit value. This ensures that the second vehicle traveling ahead is immediately selected as the target vehicle if the speed difference falls below the limit value, thereby improving the safety of the adaptive speed controller.

[0027] According to one embodiment, if the second vehicle traveling ahead does not see the first vehicle traveling ahead, after step c) and before step d), the second vehicle traveling ahead is selected as the new target vehicle.

[0028] If the second vehicle traveling ahead cannot see the first vehicle traveling ahead, it is impossible to determine the speed of the first vehicle traveling ahead and therefore it is impossible to determine the speed difference. Therefore, the second vehicle traveling ahead is selected as the target vehicle and the method proceeds to step a).

[0029] According to one embodiment, the distance between the target vehicle and the ego vehicle is selected depending on the speed of the target vehicle and / or depending on the road conditions.

[0030] Thus, the distance controlled by the adaptive speed controller in step b) is dynamically determined depending on the speed of the target vehicle, e.g., the adaptive speed controller may be configured to never go below a safe distance, e.g., half the speed.

[0031] Additionally, the distance between the target vehicle and the host vehicle may be selected depending on road conditions, for example, if the host vehicle sensor detects a wet road, the adaptive speed controller may be configured to control a greater distance than would be the case on a dry road.

[0032] According to one embodiment, the driver of the ego vehicle sets the distance between the target vehicle and the ego vehicle himself before step b).

[0033] The driver of the vehicle can adjust the distance that the adaptive speed controller itself controls before step b), for example by configuring the adaptive speed controller to only allow distances that exceed the safety distance.

[0034] In this example, the safety distance can be determined by the adaptive speed controller depending on the speed of the host vehicle, where the safety distance is selected so that if the target vehicle applies emergency braking, the host vehicle will stop in time to avoid a rear-end collision.

[0035] A second aspect provides a computer program product comprising instructions that, when said program is executed by a computer, cause said computer to perform the method set out above.

[0036] The computer program product according to the second aspect may be provided in the form of a computer-readable storage medium, such as a memory card, a USB stick, a CD-ROM, a DVD, etc. Alternatively, the computer program product may be provided as a file that can be downloaded from a server on a network. Transmission of the computer program product may be performed, for example, by transmitting a corresponding file containing the computer program product via a wireless communication network.

[0037] A third aspect provides a control device for a vehicle, the control device comprising a processor unit and a memory unit storing means for performing the method according to the first aspect above.

[0038] The control device (e.g. in the form of a vehicle central control device or electronic control unit (ECU)) is particularly configured to process the above-mentioned computer program product, e.g. in a processor unit of the control device, to operate the adaptive speed controller.

[0039] Each of the units can be implemented in hardware and / or software. If implemented in hardware, each unit can be in the form of a computer or microprocessor. If implemented in software, each unit can be in the form of a computer program product, a function, a routine, an algorithm, a portion of program code, or an executable object.

[0040] A fourth aspect provides a vehicle, the vehicle having one or more sensors and a control device according to the third aspect.

[0041] The sensors of the ego vehicle can be, for example, radar sensors, LiDAR sensors, ultrasonic sensors, and / or cameras (as already mentioned). The ego vehicle can have one type of sensor, several sensors of one type, and / or several sensors of several types. Advantageously, the ego vehicle has several sensors of several types. The ego vehicle in particular has a radar sensor, which is advantageously positioned centrally in front of the ego vehicle.

[0042] Steps a), b), c), etc. may be performed in different orders. "A" or "the singular" does not exclude a plurality.

[0043] Further possible embodiments of the invention also include combinations not expressly described of the features or embodiments described above or below with respect to the exemplary embodiments, although in this case the skilled person may still add individual aspects as improvements or additions to each basic form of the invention.

[0044] Further advantageous configurations and aspects of the invention form the subject matter of the following dependent claims and exemplary embodiments of the invention.The invention will now be described in more detail with reference to the following preferred embodiments and on the basis of the accompanying drawings. [Brief explanation of the drawings]

[0045] [Figure 1] FIG. 1 shows a schematic top view of a vehicle having an adaptive speed controller according to one embodiment. [Figure 2] FIG. 2 shows a schematic diagram of a situation in which an adaptive speed controller is used according to one embodiment. [Figure 3] FIG. 3 shows a flow chart of adaptive speed control according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0046] In the drawings, identical or functionally identical elements are designated by the same reference numbers unless otherwise stated.

[0047] Although the present invention has been described with reference to exemplary embodiments, it is possible to modify the same in many ways.

[0048] FIG. 1 illustrates a schematic top view of a vehicle 100 having a control device 103 and a sensor 102 according to one embodiment. In the example illustrated in FIG. 1, the vehicle 100 is an automobile, specifically a passenger car. The sensor 102 is designed, for example, as part of a driver assistance system. The adaptive speed controller is designed, for example, as a software component of the driver assistance system. The driver assistance system is used, for example, to assist a driver of the vehicle 100. Furthermore, the driver assistance system may be designed for semi-autonomous or fully autonomous driving of the vehicle 100. The driver assistance system may be configured to control vehicle components, such as the engine control device 104, the braking system 106, and the steering system 107, thereby enabling driver-assisted semi-autonomous and / or fully autonomous driving. For example, the driver assistance system may be designed for high-speed driving, such as that found on country roads or highways. The driver assistance system may also be designed for low-speed driving, such as that found on urban roads. In particular, the driver assistance system is set up for driving in congested traffic situations, for example in stop-and-go traffic situations on any type of road characterized by vehicles moving very slowly and this movement being interrupted by frequent stops.

[0049] The sensor 102, which is a radar sensor in this example, is located at the center of the front of the vehicle 100, as shown in FIG. 1 . The sensor 102 is connected to the controller 103 wirelessly and / or via a wire for transmitting sensor data. The vehicle 100 preferably includes additional sensors 109 configured to detect the driving state of the vehicle 100 and to detect the vehicle's 100's surrounding environment. Examples of such sensors 109 on the vehicle 100 include image capture devices such as cameras, radar (radio detection and ranging), or lidar (light detection and ranging), ultrasonic sensors, position sensors, wheel angle sensors, and / or wheel speed sensors. The sensors 109 are each configured to provide sensor data to, for example, the controller 103 and / or a driver assistance system. The driver assistance system assists the driver and performs semi-autonomous or fully autonomous driving in response to the detected sensor data.

[0050] The control device 103 comprises a processor unit and a memory unit (not shown), both configured to implement a method for operating the adaptive speed controller during operation of the vehicle 100, as described below. The control device 103 is configured to receive sensor data from the vehicle's sensors 109, and in particular from the sensor 102. A data link between the control device 103 and the vehicle components is indicated by reference numeral 105. The data link may represent a line, a data line, a vehicle bus, and / or wireless data transmission.

[0051] The controller 103 is connected to the engine control unit 104 in the exemplary illustration of the vehicle 100 of FIG. 1 and is configured to transmit data to the engine control unit 104. The transmitted data includes, for example, control signals that cause the engine control unit 104 to accelerate and / or brake the vehicle 100.

[0052] The control device 103 of Fig. 1 is also connected to the braking device 106. The control device 103 transmits data wirelessly and / or via wires to the braking device 106 of the vehicle 100. The data includes, for example, control signals. These control signals cause the braking device 106 to brake the vehicle 100. In particular, the control signals may include information about the likelihood of an impending emergency braking operation by the driver of the vehicle 100. This likelihood is detected by the sensors 109 and / or the adaptive speed controller. The braking device 106 is prepared for this.

[0053] The control device 103 in Fig. 1 is connected to the steering device 107 of the vehicle 100. The control device 103 transmits data to the steering device 107 of the vehicle 100 wirelessly and / or via a wire. The data includes, for example, control signals. These control signals cause the steering device 107 to change the steering angle of the vehicle 100.

[0054] Additionally, as will be described below, the controller 103 has stored therein a computer program product including program code means stored on a computer readable medium for implementing a method for operating an adaptive speed controller, in particular the computer program product being executed by and processed in a processor of the controller 103.

[0055] Using the schematic diagram of FIG. 2 and the flow chart of FIG. 3, which illustrate a situation in which an adaptive speed controller is used according to one embodiment, a method for operating the adaptive speed controller will now be described in more detail.

[0056] FIG. 2a shows the vehicle 100 (hereinafter referred to as the host vehicle 100) of FIG. 1. A first vehicle 200 traveling ahead is selected as a target vehicle (see step S1 in FIG. 3). The adaptive speed controller of the host vehicle 100 is configured to control the distance 201 between the target vehicle 200 and the host vehicle 100 (see step S2 in FIG. 3). The sensor 102 is used to acquire sensor data and transmit it to the control device 103, which is used to determine the distance 201 and the speed and / or acceleration of the vehicle 200 traveling ahead. The control device 103 is also configured to control the distance 201 between the target vehicle 200 and the host vehicle 100. For this purpose, the control device 103 transmits data including control signals to the engine control device 104, the braking device, and / or the steering device 107. These devices then operate corresponding vehicle components to control the distance 201.

[0057] More precisely, controlling the distance 201 means accelerating the host vehicle 100 when the distance 201 is greater than a specified distance. Therefore, the control device 103 transmits data including a control signal to the engine control device 104, which then controls the engine of the host vehicle 100 so as to accelerate the host vehicle 100. When the distance 201 is less than the specified distance, the control device 103 transmits data including a control signal to the engine control device 104, the steering device 107, and / or the braking device 106, which causes the host vehicle 100 to decelerate.

[0058] If the host vehicle 100 accelerates, the control device 103 ensures that the maximum permitted speed is not exceeded. The maximum permitted speed is derived, for example, from GPS data of the driver assistance system. The maximum permitted speed for a route segment is specified in a stored map. Furthermore, the maximum permitted speed can also be determined by a sensor 109 configured to identify traffic signs.

[0059] Further, for example, the driver of the host vehicle 100 can input via the interface a maximum speed that the driver does not want to exceed. The controller 103 is further configured to adapt the data sent to the engine control unit 104 so that the engine control unit 104 does not accelerate the host vehicle 100 to a speed that exceeds the maximum speed input by the driver.

[0060] The distance 201 between the target vehicle 200 and the host vehicle 100 is a distance determined by an adaptive speed controller, for example, depending on the speed of the target vehicle. Therefore, the distance 201 is determined depending on the speed of the target vehicle 200. For this reason, the distance 201 is dynamically set and is not a fixed variable. The distance 201 may also be determined depending on the road conditions detected by the sensor 109. For example, if the road is detected as wet, the distance 201 is selected to be greater than if the road is detected as dry.

[0061] For example, the distance 201 is determined by the driver of the host vehicle 100 before step S2. The distance 201 is transmitted to the control device 103, for example, by the driver via an input interface. The adaptive speed controller is therefore configured to control the distance 201 defined by the driver of the host vehicle 100. Furthermore, the adaptive speed controller may be configured to only execute inputs of the driver of the host vehicle 100 that exceed a safe distance. The safe distance is determined by the adaptive speed controller depending on the speed of the host vehicle 100. Here, the safe distance may be selected so that the host vehicle 100 stops in time to avoid being involved in a rear-end collision if the preceding vehicle 200, 300 applies emergency braking.

[0062] In Fig. 2b), the host vehicle 100 identifies the second vehicle 300 traveling ahead in the road section between the target vehicle 200 and the host vehicle 100 (step S3 in Fig. 3). In the example shown in Fig. 2b, the second vehicle 300 traveling ahead is a passenger car. However, the second vehicle 300 traveling ahead may also be a motorcycle, in particular.

[0063] The host vehicle 100 identifies the second vehicle 300 traveling ahead, for example, via the sensor 102. Furthermore, the host vehicle 100 identifies the second vehicle 300 traveling ahead via the sensor 109. In particular, if a portion of the second vehicle 300 traveling ahead crosses a lane boundary line and the second vehicle 300 traveling ahead is located in a road section between the target vehicle 200 and the host vehicle 100, the second vehicle 300 traveling ahead is immediately identified. In particular, the vehicle 300 may cut in partially or entirely between the vehicle 100 and the vehicle 200.

[0064] 3, it is checked whether the target vehicle is not visible to the second vehicle 300 traveling ahead. Not visible is understood to mean that only the second vehicle 300 traveling ahead can be identified by the sensor 102 of the host vehicle 100.

[0065] In such a case, as illustrated in Fig. 2c), a second vehicle 300 traveling ahead is selected as a new target vehicle (step S8 in Fig. 3). The method for operating the adaptive speed controller is then started again in step a) or step S1 in Fig. 3. In step S2, the distance between the host vehicle 100 and the new target vehicle, i.e., the second vehicle 300 traveling ahead, is controlled.

[0066] If the target vehicle 200 is not obscured by the second vehicle 300 traveling ahead and the sensor 102 of the host vehicle 100 identifies both the second vehicle 300 traveling ahead and the target vehicle 200, step S5 of Figure 3 is performed.

[0067] The adaptive speed controller uses sensor data from the sensors 102 to determine the speed of the target vehicle 200 and the speed of a second vehicle 300 traveling ahead, and then calculates the speed difference between the two determined speeds.

[0068] In step S6 of FIG. 6, the calculated speed difference is compared with a limit value. The limit value can be set, for example, by the driver of the host vehicle 100 before step S6, or particularly before step S1. The limit value is stored in the adaptive speed controller. For example, the limit value can be dynamically determined by the adaptive speed controller using sensor data from sensors 109 and / or 102, taking into account traffic flow, etc. Thus, the speed limit value can be dynamically determined. In this example, the limit value has a value between 3 km / h and 10 km / h. Specifically, the limit value is particularly advantageously 5 km / h.

[0069] If the speed difference is equal to or greater than the limit value in the comparison of step S6, the target vehicle 200 is retained (step S7 in FIG. 3). Therefore, the adaptive speed controller further controls the distance 201 between the target vehicle 200 and the host vehicle 100 (step S2 in FIG. 3). The adaptive speed controller is configured to check whether the second vehicle 300 traveling ahead is still identified (step S3 in FIG. 3) by implementing the method of step S2. In this state, the driver assistance system or the adaptive speed controller assumes that the vehicle 300 will quickly start overtaking the target vehicle 200 and retains the target vehicle 200 as a reference for speed or distance control.

[0070] If the speed difference is less than the threshold value in the comparison in step S6, the second vehicle 300 traveling ahead is selected as the new target vehicle (step S9 in FIG. 3). Therefore, the adaptive speed controller controls the distance 301 from the second vehicle 300 traveling ahead as the new target vehicle, as shown in FIG. 2c). In this situation, the driver assistance system or adaptive speed controller assumes that the vehicle 300 has merged into the current lane of the host vehicle 100 for a certain period of time and uses this as a basis for speed or distance control.

[0071] Although the present invention has been described with reference to exemplary embodiments, it is possible to modify the same in many ways.

[0072] 100 (Own) Vehicle 102 Sensors 104 Engine Control Unit 105 Data Link 106 Brake equipment 107 Steering device 109 Sensors 200 First vehicle traveling ahead 201 Distance (between your vehicle and the first vehicle ahead) 300 Second vehicle traveling ahead 301 Distance (between your vehicle and the second vehicle ahead) S1~S9 method steps

Claims

1. A method for operating an adaptive speed controller of a host vehicle (100), comprising: a) Step (S1) of selecting a first vehicle (200) traveling ahead as a target vehicle; b) controlling the distance (201) between the target vehicle (200) and the host vehicle (100); c) identifying a second vehicle (300) traveling ahead of the target vehicle (200) on a road section between the target vehicle (200) and the host vehicle (100); d) determining a speed difference (S5) between the speed of the target vehicle (200) and the speed of the second vehicle (300) traveling ahead; e) comparing the speed difference with a limit value (S6); f) a step (S7) of retaining the first vehicle (200) traveling ahead as the target vehicle or a step (S9) of selecting the second vehicle (300) traveling ahead as a new target vehicle depending on the comparison of step e); A method having the following.

2. In step f), if the speed difference is equal to or greater than the limit value, the first vehicle (200) traveling ahead is maintained as the target vehicle, and if the speed difference is less than the limit value, the second vehicle (300) traveling ahead is selected as a new target vehicle. The method of claim 1.

3. Before step e), in particular before step a), the limit value is set, 3. The method according to claim 1 or 2.

4. The limit value has a value between 3 km / h and 10 km / h. The method according to any one of claims 1 to 3.

5. Steps d) to f) are repeated until the second vehicle (300) traveling ahead is selected as the new target vehicle, or until the second vehicle (300) traveling ahead leaves the road section between the target vehicle and the host vehicle (100). The method according to any one of claims 1 to 4.

6. The second vehicle (300) is a motorcycle. The method according to any one of claims 1 to 5.

7. If the second vehicle (300) traveling ahead cannot see the first vehicle (200) traveling ahead, after step c) and before step d), the second vehicle (300) traveling ahead is selected as a new target vehicle. The method according to any one of claims 1 to 6.

8. the distance (201) between the target vehicle (200) and the host vehicle (100) is selected depending on the speed of the target vehicle (200) and / or depending on the road conditions; The method according to any one of claims 1 to 7.

9. The driver of the vehicle (100) sets the distance (201) between the target vehicle (200) and the vehicle (100) by himself / herself before step b). The method according to any one of claims 1 to 8.

10. A computer program product comprising instructions that, when said program is executed by a computer, cause said computer to perform the method of any one of claims 1 to 9.

11. A processor unit; a memory unit storing means for implementing the method according to any one of claims 1 to 9; A control device (103) for a vehicle (100) for operating an adaptive speed controller, comprising:

12. one or more sensors (102, 109); A control device (103) according to claim 11; A vehicle (100) having:

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